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This project is divided into two parts: basic objectives (three-servo hexapod robot, 18-servo hexapod robot) and advanced objectives (walking on smooth interfaces such as glass, linkage of image processing technology and robotic arm). Based on the three-servo hexapod robot, we will understand the structure and gait of the hexapod robot, and learn and master the debugging and use of the modular control system. Use including but not limited to C++, Linux, etc. to write and modify the control program, and control through the stc80c51 microcontroller.
The eighteen servo hexapod robot has powerful motion capability and high automation, which can provide a powerful tool for kinematic and bionic principle research. The hexapod robot system in this project, based on the bionic principle, uses a mechanical structure of six groups of insects to achieve the posture control of the hexapod robot by controlling eighteen servos and using gait patterns such as triangular gait and fixed-point turns. By adding an air pump to the eighteen servo hexapod robot, the rubber gasket realizes the movement of the footed robot on smooth interfaces such as glass. (Theoretically, it is possible to achieve movement in the vertical direction on a smooth interface interface such as glass) Based on the 18-servo six-legged robot, we add a robot arm and a vision module (image processing technology) to realize the linkage between the vision module and the robot arm for grasping and handling, with the ultimate goal of realizing operations such as grasping or handling of specific targets.
At that time(2018), the main field of robotics was still wheeled and tracked robots. However, the reason for the existence of multi-legged robots is their ability to adapt to unstructured environments and to walk on rough and uneven surfaces, which is the key to their superiority over wheeled and tracked robots.
This is a key advantage over wheeled and tracked robots. The robot's movement on smooth interfaces is achieved by pumping the air through atmospheric pressure. Theoretically, it is possible to travel in the vertical direction.
The addition of vision modules (image processing technology) to robots has been a major trend, however, the current purpose of adding vision modules (image processing technology) to robots in the world mainly includes: compression and filtering of visual information, road detection and obstacle detection, recognition of specific traffic road signs, and 3D information perception and processing. In a nutshell, it is the vision module (image processing technology) in conjunction with the motion module. The focus of this project is to identify specific targets through the vision module (image processing technology), and then a series of operations such as grasping and crushing through the robotic arm.
Basic objectives:
Manufacturing hexapod robots (three servos; eighteen servos)
Advanced goals:
Key scientific questions